/********************************************************************************
 * Copyright 2017 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_CALIBRATION_XMLCALIBRATIONLOADER_HPP_
#define RWLIBS_CALIBRATION_XMLCALIBRATIONLOADER_HPP_

#include <rw/core/Ptr.hpp>
#include <rwlibs/calibration/WorkCellCalibration.hpp>

namespace rw { namespace models {
    class WorkCell;
}}    // namespace rw::models

namespace rwlibs { namespace calibration {
    /** @addtogroup calibration */
    /*@{*/

    /**
     * @brief Loads a calibration file for a workcell.
     *
     * The file needs to satisfy the XML format of the calibration
     */
    class XmlCalibrationLoader
    {
      public:
        /**
         * @brief Loads calibration file.
         * @param workcell [in] Workcell to which the calibration are associated
         * @param filename [in] Name of the file to load
         */
        static WorkCellCalibration::Ptr load (rw::core::Ptr< rw::models::WorkCell > workcell,
                                              std::string filename);
    };

    /* @} */

}}    // namespace rwlibs::calibration

#endif /* RWLIBS_CALIBRATION_XMLCALIBRATIONLOADER_HPP_ */
